Formation Control Algorithm of Agents Based on Earth Mover’s Distance

Table 2

Statistics comparison of representative algorithms transform from rectangle to star shapes.

Method	Times (s)
Our method	12.94	7.98	2.93	16.57	13.88
ROV	26.43	28.02	18.44	68.75	73.85
Zheng et al. [4]	58.43	9.56	3.13	23.45	19.23
Xu et al. [1]	15.32	16.11	8.06	36.53	26.23